Systems and methods for real-time visualization of anatomy in navigated procedures

Abstract

A system according to an embodiment of the present disclosure includes: a processor; and a memory storing data thereon that, when processed by the processor, enable the processor to: receive an image depicting an anatomical element; segment the image into a segmented image that includes a plurality of voxels; track a portion of a surgical instrument as the portion of the surgical instrument interacts with the anatomical element; identify, based on the tracking, an area from the segmented image representative of a section of the anatomical element that interacts with the portion of the surgical instrument; modify one or more voxels from the plurality of voxels that reside within the area identified from the segmented image as being representative of the section of the anatomical element that interacts with the portion of the surgical instrument; and render, to a display, the segmented image showing the modified one or more voxels.

What is claimed is: 
     
         1 . A system, comprising:
 a processor; and   a memory storing data thereon that, when processed by the processor, enable the processor to:
 receive an image depicting an anatomical element; 
 segment the image into a segmented image that includes a plurality of voxels; 
 track a portion of a surgical instrument as the portion of the surgical instrument interacts with the anatomical element; 
 identify, based on the tracking, an area from the segmented image representative of a section of the anatomical element that interacts with the portion of the surgical instrument; 
 modify one or more voxels from the plurality of voxels that reside within the area identified from the segmented image as being representative of the section of the anatomical element that interacts with the portion of the surgical instrument; and 
 render, to a display, the segmented image showing the modified one or more voxels. 
   
     
     
         2 . The system of  claim 1 , wherein the one or more voxels are rendered with a first visual depiction a first time, and wherein the one or more voxels are rendered with a second visual depiction at a second time later than the first time. 
     
     
         3 . The system of  claim 1 , wherein the modified one or more voxels are rendered with at least one of a different color and a different border than the plurality of voxels. 
     
     
         4 . The system of  claim 1 , wherein the portion of the surgical instrument is capable of resecting anatomical tissue. 
     
     
         5 . The system of  claim 1 , wherein the image is a two-dimensional image or a three-dimensional image. 
     
     
         6 . The system of  claim 1 , wherein the tracking comprises determining a pose of the portion of the surgical instrument relative to the anatomical element as the portion of the surgical instrument interacts with the anatomical element. 
     
     
         7 . The system of  claim 1 , wherein the modified one or more voxels indicate that the portion of the anatomical element has been resected. 
     
     
         8 . A system, comprising:
 a processor; and   a memory coupled with the processor and storing data thereon that, when processed by the processor, enable the processor to:
 receive a segmented image depicting an anatomical element segmented into a plurality of voxels; 
 render, to a display, the segmented image; 
 track a surgical tool as the surgical tool interacts with the anatomical element; 
 determine, based on the tracking, a voxel of the plurality of voxels representative of a portion of the anatomical element that interacts with the surgical tool; and 
 update a visual depiction of the voxel shown in the segmented image on the display. 
   
     
     
         9 . The system of  claim 8 , wherein the update of the visual depiction of the voxel comprises a change in at least one of a color and a border of the voxel. 
     
     
         10 . The system of  claim 8 , wherein the update of the visual depiction of the voxel comprises an indicator that the portion of the anatomical element has been resected. 
     
     
         11 . The system of  claim 8 , wherein the segmented image comprises a two-dimensional image or a three-dimensional image. 
     
     
         12 . The system of  claim 8 , wherein the segmented image is received from an artificial intelligence data model. 
     
     
         13 . The system of  claim 12 , wherein the artificial intelligence data model comprises a convolutional neural network that receives image data as an input and outputs the segmented image. 
     
     
         14 . The system of  claim 8 , wherein the tracking comprises determining a pose of the surgical tool relative to the anatomical element as the surgical tool interacts with the anatomical element. 
     
     
         15 . The system of  claim 8 , wherein the update of the visual depiction of the voxel is based on at least one of a type of surgical tool and a surgical workflow. 
     
     
         16 . A system, comprising:
 a processor; and   a memory coupled with the processor and storing data thereon that, when processed by the processor, enable the processor to:
 receive image data associated with an anatomical element; 
 segment the image data into a plurality of voxels; 
 render, to a display, a visual depiction of the plurality of voxels; 
 track an operative portion of a surgical instrument as the operative portion of the surgical instrument interacts with the anatomical element; 
 identify, based on the tracking, a voxel of the plurality of voxels associated with the operative portion of the surgical instrument; and 
 render, based on the tracking, an updated visual depiction of the image data that includes a modified version of the voxel. 
   
     
     
         17 . The system of  claim 16 , wherein the operative portion of the surgical instrument is capable of resecting anatomical tissue. 
     
     
         18 . The system of  claim 17 , wherein the modified version of the voxel provides an indicator that a section of the anatomical element has been resected. 
     
     
         19 . The system of  claim 16 , wherein the modified version of the voxel is rendered in the updated visual depiction with a first visual indicator when the surgical instrument is a first type of surgical instrument, and wherein the voxel is rendered with a second visual indicator when the surgical instrument is a second type of surgical instrument. 
     
     
         20 . The system of  claim 19 , wherein the first visual indicator indicates that a section of the anatomical element has been resected, and wherein the second visual indicator indicates that the section of the anatomical element has been decorticated.